#pragma once
#ifndef ORACLE_H
#define ORACLE_H

#include "basic_typedef.h"
#include "CollisionDetector.h"
#include <CGAL/Cartesian.h>
#include <iostream>
#include "Prm.h"
#include "CollisionDetector.h"

class Oracle
{
public:
	Oracle(SinglePrm* roadmap_robot1, SinglePrm* roadmap_robot2, CollisionDetector*	collision_detector);
	~Oracle() {};

	vector<Point_d> get_legal_neighbors(Point_d point);
private:
	SinglePrm*			m_roadmap_robot1;
	SinglePrm*			m_roadmap_robot2;
	CollisionDetector*	m_collision_detector;
};

#endif